【摘要】 分析了现代物流自动化领域内机器人混箱码垛工程实践中存在的几何约束、边界约束和比例约束 ,提出了多元约束条件下机器人混箱码垛规划问题的新概念 ,建立了该问题的混合整数规划模型 ,通过算例验证了模型的有效性 ,为机器人混箱码垛的工程实施提供了理论依据更多还原

【Abstract】 The constraints which exist in the robotic material handling system of modern logistic automation including geometric constraint, boundary constraints and proportional constraints, were analyzed. Based upon them, a new concept called robotic mixed-boxes palletizing problem with multi-constraints was proposed. A mixed integer programming model of this problem is established, and a case is used to check the validity of the model. Thus the useful theoretic basis for the robotic mixed-boxes palletizing application is provided.更多还原